User controlled graphics object movement based on a amount of joystick angular rotation and point of view angle

ABSTRACT

Three-dimensional image display game system and method for use with a display for displaying an object in a three-dimensional space, including an operation controlling device including an operating member having a base end rotatably supported and a free end operable by an operator. The operation controlling device includes an inclination amount data output detector which detects an inclination amount of the operating member to output inclination amount data. The system further includes direction determining circuitry operable to determine a direction that corresponds to an inclination direction of the operating member based on the inclination amount data, and moving object direction determining circuitry which determines a moving direction of the object in three-dimensional space based upon the direction determined by the direction determining circuitry and a point of view angle at which the object is being viewed by the operator in three-dimensional space. A direction in which the operating member must be moved to cause forward movement of the object is offset from a forward direction of the operation controlling device by an angle corresponding to the point of view angle.

CROSS-REFERENCES TO RELATED APPLICATIONS

This is a continuation of application Ser. No. 09/686,761, filed Oct.12, 2000, now U.S. Pat. No. 6,917,356, which is a continuation ofapplication Ser. No. 08/836,731, filed May 22, 1997, now U.S. Pat. No.6,239,806, the entire contents of which are hereby incorporated byreference in this application.

FIELD OF THE INVENTION

This invention relates to three-dimensional image processing systems.More particularly, this invention is concerned with a three-dimensionalimage processing system for video game machines or the like, which isadapted to display an object in a realistic manner in athree-dimensional space on a display such that the object is moved inaccordance with the direction and amount of inclination of an operatingmember, such as an analog joystick, of an operating device, e.g., avideo game controller.

BACKGROUND OF THE INVENTION

The conventional video game machine has a cross-shaped key which isprovided on a controller so that the object displayed on the display ismoved by a player's operation of the cross key. Such a cross key is aso-called digital joystick, by which only the direction of movement isdesignated for the object. With such a cross key, the speed of movementis impossible to designate.

There also is a prior art method where moving speed of the object isvaried depending upon the length of the time period over which a crosskey is depressed. In such a method, acceleration or deceleration isdetermined for the object at a constant acceleration rate or a constantdeceleration rate by each constant depression time period. Although, inthis method, the moving direction and the moving speed of the object canbe controlled even by using a digital joystick, there are disadvantagesusing this approach. That is, the moving speed for the object is merelyvaried at a constant rate of acceleration or deceleration as determinedby software calculations, so that is impossible to arbitrarily controlthe speed of movement. Furthermore, the speed is determined by theperiod of key depression time, which requires that the cross key has tobe kept depressed for a certain period or longer, resulting in poorresponsiveness.

Under such circumstances, the present applicant has proposed by JapaneseProvisional Utility Model Publication No. H2-41342, laid open to publicon Mar. 22, 1990, a controller which has three contacts arranged in onedirection on a cross key thereof so that the moving speed, besides themoving direction, is varied for the object by utilization of changingturning-on of contacts depending upon depression amount of the crosskey.

In this prior art, however, the direction of movement is limited to fourdirections of upper, lower, left and right (and intermediate directionsthereof), and the speed of movement is varied only between three stagesof speed. That is, in this prior art there still exists limitations onthe moving direction and the moving speed.

Although there are already known game machines employing an analogjoystick for a control lever of an aircraft, such an analog joystick ofthe game machines are typically utilized for controlling, for example,the inclination of the aircraft, and wherein control is impossible forthe moving direction or the moving speed.

SUMMARY OF THE INVENTION

It is therefore the primary object of the present invention to providean image processing system which is high in responsiveness and iscapable of controlling the moving direction and the moving speed of aplayer controlled object.

The present invention is directed to a three-dimensional imageprocessing system, including an image processing apparatus connected toa display to generate image data for displaying an object existing in athree-dimensional space on the display according to a stored program,and an operating device including an operating member having a base endrotatably supported and a free end operable by an operator, so that theimage data is varied in accordance with movement of the operatingmember. The operating device includes inclination amount data outputcircuitry which detects an inclination amount of the operating member tooutput inclination amount data. The exemplary image processing apparatusincludes direction determining hardware and software which determines amoving direction of the object in the three-dimensional space based onthe inclination amount data; moving amount determining hardware andsoftware which determines a moving amount of the objection within onedisplay frame; position determining hardware and software whichdetermines object position in the three-dimensional space in accordancewith the moving direction and the moving amount; and an image dataoutput circuitry which outputs image data for displaying the object onthe display at a position controlled by the position determininghardware and software.

The operating device is, for example, an analog joystick, which includesa base end supported rotatably with a given angle range and a free endfor being operated by an operator so that the operating member isinclined to arbitrary directions in accordance with operator operation.For example, an inclination amount data output circuitry such as an Xcounter and a Y counter detects the amount of inclination of theoperating member to output inclination amount data.

The image processing apparatus includes a program storing memory,wherein the program storing memory is preferably an external storagedevice detachably attached to the image processing apparatus main body.Direction determining circuitry and moving amount determining circuitrycomprised, for example, of a CPU under control of the stored programrespectively determine moving direction of the object in thethree-dimensional space and moving amount of the object to be moved inone display frame, based on the inclination amount data from theoperating device.

Specifically, count values of an X counter and the Y counter areconverted by normalizing into a UV coordinate frame. The CPU determinesthe inclination amount (L) and the inclination direction (tan⁻¹) by theUV coordinate value (u, v). The direction determining circuitry is, forexample, the CPU, which determines under program control the movingdirection of the object based on the inclination direction (tan⁻¹)thereof and the point of view (camera angle) at which the object isconsidered to be “photographed” in the three-dimensional space. Themoving amount determining circuitry is, for example, the CPU, whichdetermines under the program control the moving amount of the objectwithin one display frame, i.e., the moving speed, based on theinclination amount (L) and the maximum speed (max-speed).

Therefore the position determining circuitry determines the position ofthe object in three-dimensional space in dependence upon the movingdirection and the moving amount. Consequently, the image data outputcircuitry outputs image data for display of the object at the positionthus determined.

In accordance with the present invention, the operation of one operatingdevice such as an analog joystick provides control of the movingdirection and the moving amount (moving speed) of the object.

The above and other objects, features, aspects, and advantage of thepresent invention will become more apparent from the ensuing detaileddescription of the present invention when taken in conjunction with theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic illustrative view showing one embodiment of thepresent invention;

FIG. 2 is a block diagram showing an illustrative image processingapparatus in the FIG. 1 embodiment;

FIG. 3 is a block diagram showing in more detail an illustrative buscontrol circuit in the FIG. 2 embodiment;

FIG. 4 is an illustrative view showing a memory map of a RAM in the FIG.2 embodiment;

FIG. 5 is a block diagram showing a controller control circuit in theFIG. 2 embodiment;

FIG. 6 is an illustrative view showing a memory map of a RAM in FIG. 5;

FIG. 7 is a perspective view of a controller in the FIG. 2 embodiment asviewed from the top;

FIG. 8 is a perspective view of the controller in the FIG. 2 embodimentas viewed from the bottom;

FIG. 9 is a block diagram showing in detail the controller and anextension device;

FIG. 10 is an illustrative view showing data of an analog joystick ofthe controller and respective buttons;

FIG. 11 is a flowchart showing the operation of a CPU in the FIG. 2embodiment;

FIG. 12 is a flowchart showing the operation of the bus control circuitin the FIG. 2 embodiment, i.e., an RCP (Reality Co-Processor) in FIG. 3;

FIG. 13 is a flowchart showing the operation of the controller controlcircuit in the FIG. 2 embodiment;

FIG. 14 is a flowchart showing a subroutine for varying the position ofthe object in the FIG. 2 embodiment;

FIG. 15 is an illustrative view showing the relation between theinclinable range of the analog joystick and the circular correctiontherefore;

FIG. 16 is an illustrative view showing the moving direction of theobject.

EMBODIMENTS

Referring to FIG. 1, there is illustrated an external view showing anexemplary three-dimensional image processing system according to oneembodiment of the present invention. The image processing system is, forexample, a video game system, which includes an image processingapparatus main body 10, a ROM cartridge 20 (as one example of anexternal memory device), a television type monitor 30 (as one example ofa display means) connected to the image processing apparatus mainconsole 10, a schematically represented illustrative controller 40, anda RAM cartridge 50 (as one example of an extension device detachablyattached to the controller 40). The external memory device stores imagedata and program data for image processing for games, an audio data formusic, sound effects, etc. A CD-ROM or a magnetic disc may alternativelybe employed in place of the ROM cartridge. Where the image processingsystem of this exemplary embodiment is applied to a personal computer,an input device such as a keyboard or a mouse may be used as theoperating mechanism.

FIG. 2 is a block diagram of an exemplary image processing system. Theimage processing apparatus 10 incorporates therein a central processorunit (hereinafter “CPU”) 11 and a bus control circuit 12. The buscontrol circuit 12 is connected to a cartridge connector 13 fordetachably attaching a ROM cartridge 20, and a RAM 14. The bus controlcircuit 12 is connected to an audio signal generating circuit 15 foroutputting an audio signal processed by the CPU 11 and a video signalgenerating circuit 16 for outputting a video signal, and further to acontroller control circuit 17 for serially transferring operating datafrom one or a plurality of controller(s) 40 and/or data from RAMcartridge(s) 50. The controller control circuit 17 is connected tocontroller connectors (hereinafter abbreviated as “connectors”) 181–184which are provided at a front console face of the image processingapparatus 10. A connection jack 41 is detachably connected to connector181–184 and to the controllers 40 through a cable 42. Thus, theconnection of the controller 40 to the connector 181–184 places thecontroller 40 into electric connection with the image processingapparatus 10, enabling transmission and reception of data therebetween.

More specifically, the bus control circuit 12 receives a command outputas a parallel signal from the CPU 11 via a bus and converts it to aserial signal for outputting a serial signal command to the controllercontrol circuit 17, and converts serial signal data input from thecontroller control circuit 17 into a parallel signal for output to abus. The data output through the bus is processed by the CPU 11, and maybe stored in RAM 14. RAM 14 is a memory for temporarily storing the datato be processed by the CPU 11, wherein read-out and writing of data ispossible through the bus control circuit 12.

The bus control circuit 12, included in the image processing apparatus10 in FIG. 2, for example, includes a coprocessor RCP (RealityCo-Processor) which may be a RISC processor. As shown in the FIG. 3exemplary embodiment, the coprocessor RCP includes an I/O control 121, asignal processor 122 and a display or drawing processor 123. The I/Ocontrol 121 controls not only the transfer of data between the CPU 11and the RAM 14, but also the flow of data between the signal processor122 or the drawing processor 123 and the RAM 14 or the CPU 11. That is,data from the CPU 11 is delivered to the RAM 14 via the I/O control 121,and further data from the RAM 14 is supplied to the signal processor 122and the drawing processor 123 for processing therein. The signalprocessor 122 and the drawing processor 123 respectively process musicsignal data and image signal data and store such data in RAM 14. The I/Ocontrol 121 then reads the music signal data and the image signal dataout of the RAM 14 according to instructions executed by the CPU 11 tosupply respective signals to a music signal generating circuit (D/Aconverter) 15 and an image signal generating circuit (D/A converter) 16.The music signal is supplied via a connector 195 to a speaker 31included in a TV monitor 30. The image signal is supplied via aconnector 196 to a display 32 included in the TV monitor 30.

A disc driver 21 may be connected to the image processing apparatus 10as shown in FIG. 3, in place of or together with the external ROM 20wherein the disc driver can read out of or write to an optical disc or amagnetic disc. In this case, the disc driver 21 is connected to the RCP12, i.e., the I/O control 121, through a connector 197.

FIG. 4 is an illustrative diagram showing memory areas assigned to CPU11 memory address space. The RAM address space is accessible by the CPUvia the bus control circuit, i.e., the RCP 12 and includes an image dataregion 201 for storing image data required to cause the image processingapparatus 10 to generate image signals for the game, and a program dataregion 202 for storing program data required for controllingpredetermined CPU 11 operations. In the program data region 202, thereare fixedly stored an image display program for performing image displayprocessing based on image data 201, a time-measuring program forperforming processing relating to the measurement of time, and adetermination program for determining that the cartridge 20 and anextension device 50, hereinafter referred to, have a predeterminedrelationship. The RAM 14 includes further a region 141 for temporarilystoring data representative of an operating state from a control panelor controller and a speed data region 142 for storing data indicative ofthe speed of object movement (the amount of movement over which theobject moves in one display frame).

The controller control circuit 17 is provided for transmission andreception of data in serial between the bus control circuit 12, i.e.,the RCP, and the connector 181–184, and includes as shown in FIG. 5 adata transfer control circuit 171, a signal transmitting circuit 172, asignal receiving circuit 173 and a RAM 174 for temporarily storingtransmission and reception data. The data transfer control circuit 171includes a parallel-serial conversion circuit and a serial-parallelconversion circuit for data format conversion during data transfer, andalso controls write-in and read-out of the RAM 174. The serial-parallelconversion circuit converts serial data supplied from the bus controlcircuit 12 into parallel data to provide it to the RAM 174 or the signaltransmitting circuit 172. The parallel-serial conversion circuitconverts parallel data supplied from the RAM 174 or the signal receivingcircuit 173 into serial data to provide to the bus control circuit 12.The signal transmission circuit 172 converts data for signal read-incontrol of the controller 40 supplied from the data transfer controlcircuit 171 and converts write-in data (parallel data) to the RAMcartridge 50 into serial data, which data is transmitted through acorresponding channel CH1–CH4 to each of the plurality of controllers40. The signal receiving circuit 173 receives data in serial formrepresentative of an operating state of each of the controllers 40,input through a corresponding channel CH1–CH4 and read-out data from theRAM cartridge 50, to convert such data into parallel data to provide tothe data transfer control circuit 171.

The RAM 174 of the controller control circuit 17 includes memory regionsor memory areas 174 a–174 h as shown in a memory map of FIG. 6.Specifically, the area 174 a stores a command for channel 1, while thearea 174 b stores transmission data and reception data for channel 1.The area 174 c stores a command for channel 2, while the area 174 dstores transmission data and reception data for channel 2. The area 174e stores a command for channel 3, while the area 174 f storestransmission data and reception data for channel 3. The area 174 gstores a command for channel 4, while the area 174 h stores transmissiondata and reception data for channel 4.

Accordingly, the data transfer control circuit 171 operates to controlwriting to the RAM 174 data transferred from the bus control circuit 12or data indicating the operating state of the controller 40 received bythe signal receiving circuit 173. The data transfer control circuit 171operates to control reading out of data from the RAM cartridge 50, andreading data out of the RAM 174 based on a command from the bus controlcircuit 12 to transfer such data to the bus control circuit 12.

FIG. 7 and FIG. 8 are external perspective views of front and backsurfaces of a controller 40. The controller 40 is shaped such that itcan be grasped by both hands or one hand, and has a housing having anexterior formed with a plurality of projecting buttons or control keyswhich, when depressed, generate an electric signal and avertically-standing control member portion. Specifically, the controller40 includes an upper housing and a lower housing. The housing of thecontroller 40 has an operating area formed on an upper surface in aplanar shape extending sideways. The operating area of the controller 40includes a cross-shaped digital direction switch (hereinafter referredto as “cross switch”) 403 on a left side, a plurality of button switches(hereinafter referred to as “switches”) 404A–404F on a right side, astart switch 405 generally at a laterally central portion, and ajoystick 45 providing analog input at a centrally lower portion. Thecross switch 403 is a direction switch for designating the direction ofmovement of a player controlled heroic character or a cursor, which hasupper, lower, left and right depression points used for designatingmovement in four directions. The switches 404A–404F, may have differentfunctions as defined by game software and may be used, for example, tolaunch a missile in a shooting game, or designate various actions suchas jumping, kicking, or controlling an action game in many differentways. The joystick 45 may be used in place of the cross switch 403 todesignate the direction of movement of an object. It can designatedirection over the entire angular range over 360 degrees, being utilizedas an analog direction designating switch.

The housing of the controller 40 has three grips 402L, 402C and 402Rformed in a manner projecting downward from three locations of theoperating area. The grips 402L, 402C and 402R are in such rod-shapesthat, when held by the hand, they are contoured by the palm, the middlefinger, the finger between the little and the middle finger and thelittle finger. Each grip is formed by a relatively thin base portion, athicker intermediate portion which thins toward an open end (downward inFIG. 7). The bottom housing the controller 40 has an insertion aperture408 formed at a centrally upper portion which projects from theunderside for detachably attached, for example, a RAM cartridge 50 as anextension device. The housing has a button switch 406L and a button 406Rprovided on left and right upper side faces thereof at locationscorresponding to the positions to which the left and right index fingersof a player extend. On a back surface at the base portion of the centralgrip 402C, a switch 407 is provided as a switch having a functionsimilar to the switch 406L when the joystick 45 is used in place of thecross switch 403 (or whose function may be varied in accordance with thegame program).

The lower half of the housing on a back surface side extends toward abottom surface to have the aperture 408 formed at a tip end thereof. Ata deep end of the aperture 408, a connector (not shown) is provided towhich an extension cartridge 50 is to be connected. In the aperture 408a lever 409 is also formed for ejecting the cartridge 50 inserted in theaperture 408. On a side opposite to the lever 409 in the aperture 408for insertion of an extension cartridge 50, a cut-out 410 is formed,which cut-out 410 provides a space for pulling out the extensioncartridge 50 upon taking out the extension cartridge 50 by using thelever 409.

FIG. 9 is a detailed circuit diagram of a controller 40 and a RAMcartridge 50 shown as one example of an extension or expansion device.The controller 40 incorporates within the housing electronic circuitssuch as operation signal processing circuit 44, etc. in order to detectoperating states of the switches 403–407 or the joystick 45 or the likeand transfer detected data to the controller control circuit 17. Theoperation signal processing circuit 44 includes a signal receivingcircuit 441, a control circuit 442, a switch signal detecting circuit443, a counter circuit 444, a signal transmitting circuit 445, a joyportcontrol circuit 446, a reset circuit 447 and a NOR gate 448.

The signal receiving circuit 441 converts a serial signal, such as acontrol signal transmitted from the controller control circuit 17, orwrite-in data to the RAM cartridge 50, etc. into a parallel signal tosupply it to the control circuit 442. The control circuit 442 generatesa reset signal to cause resetting (0) of measured values of an X-axiscounter 444X and a Y-axis counter 444Y included in the counter 444, whenthe control signal transmitted from the controller control circuit 17 isa reset signal for an X, Y coordinate of the joystick 45. The joystick45 includes photo-interrupters for the X-axis and the Y-axis to generatea number of pulses proportional to the amount of inclination of a leverin directions of the X-axis and Y-axis, providing respective pulsesignals to the counters 444X and 444Y. The counter 444X, when thejoystick 45 is inclined in the X-axis direction, measures the number ofpulses generated in proportion to the amount of inclination. The counter444Y measures the number of pulses generated in proportion to the amountof inclination, when the joystick 45 is inclined in the Y-axisdirection. Accordingly, the resultant vector, determined by the measuredvalues in X-axis and Y-axis of the counter 444X and the 444Y, determinesthe moving direction and the moving speed for the displayed playercontrolled object or the cursor.

The counter 444X and the counter 444Y are also reset of their measuredvalues by a reset signal supplied from the reset signal generatingcircuit 447 upon turning on the power supply, or a reset signal suppliedfrom the switch signal detecting circuit 443 when the playersimultaneously depresses two switches.

The switch signal detecting circuit 443 responds to an output commandsignal representing a switch state supplied at a constant period (e.g.,at a 1/30-second interval in a frame period of a television), and readsa signal that is varied by the state of depression of the cross switch403 and the switches 404A–404F, 405, 406L, 406R and 407 to supply it tothe control circuit 442.

The control circuit 442 responds to a read-out command signal ofoperating state data from the controller control circuit 17, andsupplies the operating state data of the switches 403–407 and themeasured values of the counters 444X, 444Y to the signal transmittingcircuit 445 in a predetermined data-format order. The signaltransmitting circuit 445 converts these parallel signals output from thecontrol circuit 442 into serial data to transfer them to the controllercontrol circuit 17 via a conversion circuit 43 and a signal line 42.

To the control circuit 442 are connected an address bus, a data bus, anda port control circuit 446 through a port connector 40. The port controlcircuit 446 performs input-output control (or signal transmission orreception control) on data according to commands from the CPU 11, whenthe RAM cartridge 50, which is one example of an extension device, isconnected to a port connector 46. The RAM cartridge 50 includes a RAM 51which is connected to the address bus and the data bus, and whichincludes a battery 52 for supplying power source to the RAM 51. The RAM51 may, for example, be a RAM that has a capacity lower than a half of amaximum memory capacity accessible by using an address bus, and may, forexample, be a 256 k-bit RAM. The RAM 51 stores backup data associatedwith a game, so that, if the RAM cartridge 50 is removed from the portconnector 46, the stored data is maintained by receiving power supplyfrom the battery 52.

FIG. 10 is a graphical illustration of a data format by which the imageprocessing apparatus reads out data representative of an operating stateof switches 403–407 and joystick 45 from the controller 40. The datagenerated by the controller 40 is configured as 4-byte data. Thefirst-byte data B, A, G, START, upper, lower, left and right, i.e.,represents the state of switches 404B, 404A, 407, 405 and cross switch403. For example, when the button B, i.e., the switch 404B, isdepressed, the highest order bit of the first byte becomes “1”.Similarly, the second-byte represents JSRST, 0 (not employed in theexemplary embodiment), L, R, E, D, C and F, i.e., the state of theswitches 409, 406L, 406R, 404E, 404D, 404C and 404F. The third byterepresents by binary digit the X coordinate value (measured value by theX counter 444X) which value depends upon the inclination angle of thejoystick 45 in the X direction. The fourth byte represents by binarydigit the Y coordinate value (measured value by the Y counter 444Y)which value depends upon the inclination angle of the joystick 45 in theY direction. Because the X and Y coordinate values are expressed by 8bits of binary digit, the conversion into decimal digit makes itpossible to represent the inclination of the joystick 45 by a numeral offrom 0–255. If the highest order bit is expressed by a signal denoting anegative value, the inclination angle of the joystick 45 can beexpressed by a numeral between −128 and 127.

An explanation of the transmission and reception of data between theimage processing apparatus 10 and the controller 40, as well as theoperation of object movement control according to the data from thecontroller 40 is set forth below.

Referring first to a FIG. 11 flowchart for the CPU 11 of the imageprocessing apparatus 10, an explanation is made concerning imageprocessing. At a step S11, CPU 11 is initialized based on an initialvalue stored in the program data area 202 in FIG. 4. At a step S11, theCPU 11 set for example to the initial value of the moving speed of theobject in the program data region 142 (FIG. 4) of the RAM 14. Then, at astep S12, CPU 11 outputs a control pad data request command stored inthe program data area 202 to the RCP (the bus control circuit 12).Accordingly, at the step S12, the CPU 11 receives commands as shown inFIG. 10 at that time to store them to command accommodating storagesites 174 a–174 d for respective channels. At this time, the countvalues of the X counter 444X and the y counter 444Y are provided to theCPU 11 as XY coordinate data.

Then at a step S12 a the CPU 11 execute processes to alter the positionof the object in accordance with joystick data from the controller 40which has been stored in the command accommodating sites 174 a–174 d forthe channels (FIG. 6). Note that the step S12 a is explained in detailbelow with reference to FIG. 14.

At a step S13, the CPU 11 carries out predetermined desired imageprocessing based on the program stored in the program data area 202 andthe image data 201. While the CPU 11 is executing the step S13, the RCP(bus control circuit 12) is executing steps S21–S24 shown in FIG. 12.Then, at a step S14, the CPU 11 outputs image data based on the controlpad data stored in the control pad data area 141 in FIG. 4. Aftercompleting step S14, the CPU 11 repeats to execute steps S12–S14.

The operation of the RCP (the bus control circuit 12) is explained inconjunction with FIG. 12. At a step S21, the bus control circuit 12determines whether or not the CPU 11 has output a controller datarequest command (a request command for data on switches of thecontroller 40 or data relating to the expansion device 50). If acontroller data request command has not been output, the RCP waits untilone is output. If a controller data request command has been output, theprocess proceeds to a step S22. At step S22, the bus control circuit 12outputs a command for reading in controller 40 data to the controllercontrol circuit 17. Then, at a step S23, the bus control circuit 12determines whether or not the controller control circuit 17 has receiveddata from the controller 40 to store it in the RAM 174. If thecontroller control circuit 17 has not received data from the controller40 to store in the RAM 174, the bus control circuit 12 waits at stepS23. The controller control circuit 17 has received data from thecontroller 40 to store it in the RAM 174, the process proceeds to a stepS24. At the step S24, the bus control circuit 12 transfers the data ofthe controller 40 stored in the RAM 174 to the RAM 14. The bus controlcircuit 12, when completing the data transfer to the RAM 14, returns theprocess back to the step S21 to repeat execution of the steps S21–thestep S24.

The FIG. 11 and FIG. 12 flowcharts show the example wherein, after thebus control circuit 12 has transferred data from the RAM 174 to the RAM14, the CPU 11 processes the data stored in the RAM 14. However, the CPU11 may directly process the data in the RAM 174 through the bus controlcircuit 12.

FIG. 13 is a flowchart for explaining the operation of the controllercontrol circuit 17. At a step S31, it is determined whether there is awrite wait from the bus control circuit 12. If there is not a writewait, the data transfer control circuit 171 waits until there is a writewait from the bus control circuit 12. If there is a write wait, at anext step S32 the data transfer control circuit 171 causes the RAM 174to store commands for the first to the fourth channels and/or data(hereinafter abbreviated as “command/data”). At a step S33, thecommand/data for the first channel is transmitted to the controller 40connected to the connector 181. The control circuit 442 performs apredetermined operation based on the command/data to output data to betransmitted to the image processing apparatus 10. The content of thedata is described below in explaining the operation of the controlcircuit 442. At a step S34, the data transfer control circuit 171receives data output from the control circuit 442, to cause the RAM tostore the data.

At a step S35, the command/data for the second channel is transmitted tothe controller 40, in a manner similar to the operation for the firstchannel at the steps S33. The control circuit 442 performs apredetermined operation based on this command/data to output the data tobe transmitted to the image processing apparatus 10. At a step S36 datatransfer and write-in processes are carried out for the second channel.Meanwhile, at a step S37, the command/data for the third channel istransmitted to the controller 40. The control circuit 442 performs apredetermined operation based on this command/data to output the data tobe transmitted to the image processing apparatus 10. At a step S38 datatransfer and write-in processes are carried out for the third channel.Furthermore, at a step S39, the command/data for the fourth channel istransmitted to the controller 40. The control circuit 442 of thecontroller 40 performs a predetermined operation based on thiscommand/data to output the data to be transmitted to the imageprocessing apparatus 10. At a step S40 data transfer and write-inprocesses are carried out for the fourth channel. At as subsequent stepS41, the data transfer circuit 171 transfer in batch the data which itreceived at the steps S34, S36, S38 and S40 to the bus control circuit12.

In the above-identified manner, the data for the first channel to thefourth channel, that is, the commands for the controllers 40 connectedto the connectors 181–184 and the operating state data to be read out ofthe controllers 40, are transferred by time-divisional processingbetween the data transfer control circuit 171 and the control circuit442 respectively within the controllers 40.

With reference to FIG. 14, object position modifying step S12 a in FIG.11 is explained in detail. At a first step S301 in FIG. 14, the CPU 11corrects the joystick data, i.e., the X coordinate data and the Ycoordinate data, from the controller 40. The joystick 45 (FIG. 7) has astructure that can be inclined within an octagonal range 451 in a planeas shown in FIG. 15. Accordingly at the step S301, the data within theoctagonal range of inclination is converted or corrected into datawithin a circular range 452. There is no necessity of executing thecorrecting step. That is, the subsequent steps may be executed with theoctagonal inclination range data.

At the step S301, the XY coordinate data for the joystick 45 isconverted into coordinate data (u, v) in an UV plane as shown in FIG.15. On this occasion, the maximum amount of inclination of the joystick45 is normalized to “1”. That is, the joystick 45 in the UV plane inFIG. 15 is allowed to incline within respective ranges of −1.0

u

1.0 and −1.0

v.

1.0. This is because, since a square curve is utilized to calculate themoving speed S of the object as stated later, a low speed range thereofis to be extended. In this manner, it becomes possible to move theobject at a considerably slow speed.

At subsequent steps S302, S303 and S304, the CPU 11 calculates ordetects the amount of inclination L of the joystick 45, the moving speedS of the object and the moving direction

thereof according to following Equations (1), (2) and (3), based on thecorrected joystick data (u, v),L=the square root of “u ² +v ²”  (1)S=L ²×max-speed  (2)

=tan⁻¹(u/−v)+camera-angle  (3)where, L: the inclination amount of the joystick, u, v: is theinclination amount in each axis (coordinate positions), S: is the movingspeed of the object, where the max-speed: self-running maximum speed(e.g., 32 cm/frame),

the direction of object movement. Equation (3) means that in athree-dimensional space the direction

of object movement is determined by the relative relations between thedirection of joystick 45 inclination and the point of view or angle of acamera (camera-angle) at which the object is “photographed” inthree-dimensional space.

After calculating respectively at the steps S302, S303 and S304 theinclination amount L of the joystick, the moving speed S of the objectand the moving direction

thereof in accordance with Equations (1), (2) and (3), the CPU 11 at astep S305 compares the actual moving speed S1 of the object in theprevious frame stored at the speed data region 142 of the RAM 14 withthe speed S calculated at the step S303, determining whether they areequal to or not. If they are not coincident (S1 is not=to S), the CPU 11determines whether S1>S at a next step S306.

If the determination is “No” at step S306, the process of accelerationis executed at a step S307, while if “Yes” is determined, the process ofdeceleration is executed at a step S308. In the acceleration process atthe step S307, a predetermined acceleration A is added to the actualmoving speed S1 in the previous frame according to Equation (4). Notethat the acceleration A is provided as one example by following Equation(5):S=S1+A  (4)A=1.1−S1/43.0  (5)

Also, in the deceleration process at the step S308, a predetermineddeceleration B is subtracted from the actual moving speed S1 in theprevious frame according to Equation (6). Note that the deceleration Bis provided as one example by following Equation (7):S=S1−B  (6)B=2.0  (7)

The reason for determining in Equation (5) the acceleration A based onthe speed S1 in the previous frame is to avoid abrupt changes of speed.Although in Equation (7) the deceleration B was set as a constant, itmay alternatively be set as a function of moving speed S1 in theprevious frame in a manner similar to the acceleration A. Furthermore,the acceleration A may be a constant value.

If “Yes” is determined at step S305, the process proceeds to a step S309as is the case when executing steps S307 or S308. At step S309, eitherof the moving speed S determined at the step S307 or the moving speeddetermined at step S308 is written in the speed data region 142 of theRAM 14, thereby updating the speed data.

At a next step S310, the position x and z of the object is calculatedaccording to following Equations (8) and (9), based on the moving speedthus determined. That is, the position of the object is determined bythe vector amount S and the vector angle

.X=x+S×sin

  (8)z=z+S×cos

  (9)

At a step S311, the CPU 11 outputs the position data determined byEquations (8) and (9) to the bus control circuit, or the RCP, 12. Inresponse, the RCP 12 executes signal processing and image processing independence upon the object position data given thereto, and outputsimage data through the I/O control 12 to the D/A converter 16.

In this manner, the moving direction and the moving amount (movingspeed) of the object are determined in the above example based on theinclination amount data for the controller 40 joystick, thereby varyingthe position of the object in the three-dimensional space. In otherwords, the object is displayed at a position thus varied in the nextframe on the display 32 (monitor 30).

Although the present invention has been described and illustrated indetail, it is clearly understood that the same is by way of illustrationand example only and is not to be taken by way of limitation, the spiritand scope of the present invention being limited only by the terms ofthe appended claims.

1. A method of controlling the direction of an object in aprocessor-managed three-dimensional space via an operating membermanipulated by a user, comprising the steps of: detecting a manipulationof the operating member; determining, at the time of the manipulation, amoving direction the processor should move the object based on adirection in which the user moves the control member, offset by a cameraangle at which the object is being viewed by the user; and, moving theobject in the three-dimensional space in the above-determined movingdirection.
 2. A method as in claim 1, wherein said operating member is ajoystick.
 3. A method as in claim 1, wherein said three-dimensionalspace is a video game space.
 4. In a three-dimensional image processingsystem, including an image processing apparatus connected to a displayto generate image data for displaying an object existing in athree-dimensional space on said display according to a program, and anoperating member manipulated by a user, a method of controlling themoving of an object, said method comprising the steps of: detecting aninclination direction from said operating member upon manipulation bythe user; determining a moving direction of the object in thethree-dimensional space based on the inclination direction and a cameraangle at which the object is being viewed by the user at a time when theinclination direction is detected; and moving the object in thedetermined moving direction on said display.
 5. A method as in claim 4,wherein said operating member is a joystick.
 6. A method as in claim 4,wherein said three-dimensional space is a video game space.
 7. Athree-dimensional image processing system, including an image processingapparatus connected to a display to generate image data for displayingan object existing in a three-dimensional space on said displayaccording to a program, and an operating member manipulated by a userthat controls the moving of an object, wherein: detecting means detectinclination direction data from said operating member upon manipulationby the user; determining means for determining a moving direction of theobject in the three-dimensional space based on the inclination directionand a camera angle at which the object is being viewed by said user at atime when the inclination direction is detected; and moving means formoving the object in the determined moving direction on said display. 8.The three-dimensional image processing system of claim 7, wherein saidoperating member is a joystick.
 9. The three-dimensional imageprocessing system of claim 7, wherein said three-dimensional space is avideo game space.